This repository contains code and documentation required to reboot older Phantom Premium models (circa 2000) sold by SensAble Technologies Inc. It also contains mathematical models for kinematics, dynamics, simulation, and a high fidelity Solidoworks model and Unity visualization.
| Data | Value |
|---|---|
| Nominal Voltage | 12 V |
| No load speed | 4860 rpm |
| No load current | 26.3 mA |
| Nominal speed | 3800 rpm |
| Nominal torque (max. continuous torque) | 28.6 mNm |
| Nominal current (max. continuous current) | 1.24 A |
| Stall torque | 129 mNm |
| Stall current | 5.5 A |
| Max. efficiency | 87 % |
| Terminal resistance | 2.18 Ω |
| Terminal inductance | 0.238 mH |
| Torque constant | 23.4 mNm/A |
| Speed constant | 407 rpm/V |
| Speed / torque gradient | 37.7 rpm/mNm |
| Mechanical time constant | 4.25 ms |
| Rotor inertia | 10.3 gcm² |
| Thermal resistance housing-ambient | 14 K/W |
| Thermal resistance winding-housing | 3.1 K/W |
| Thermal time constant winding | 12.0 s |
| Thermal time constant motor | 612 s |
| Ambient temperature | -20...+85 °C |
| Max. winding temperature | +100 °C |
| Data | Value |
|---|---|
| Resolution | 1024 cpr |
| Pin | Signal | Pin | Signal | Pin | Signal |
|---|---|---|---|---|---|
| 1 | ENC1 A (black) | 6 | 11 | ENC2 B (blue/black) | |
| 2 | ENC3 A (white) | 7 | 12 | GND (black/white) | |
| 3 | ENC2 A (red) | 8 | 13 | ||
| 4 | 5V (green) | 9 | ENC1 B (green/black) | 14 | |
| 5 | 10 | ENC3 B (orange/black) | 15 |
| Pin | Signal | Pin | Signal |
|---|---|---|---|
| 1 | N/C | 5 | Motor 3- (black) |
| 2 | Motor 1+ (red) | 6 | Motor 2+ (white) |
| 3 | Motor 1- (black) | 7 | Motor 2- (black) |
| 4 | Motor 3+ (green) | 8 | N/C |
http://medesign.seas.upenn.edu/index.php/Guides/Phantom https://www.mitpressjournals.org/doi/pdf/10.1162/pres.17.4.327